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<div class="title">registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef REGISTRATION_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define REGISTRATION_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;typedefs.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/ia_ransac.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/icp.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">/* Use SampleConsensusInitialAlignment to find a rough alignment from the source cloud to the target cloud by finding</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * correspondences between two sets of local features</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * Inputs:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   source_points</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     The &quot;source&quot; points, i.e., the points that must be transformed to align with the target point cloud</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   source_descriptors</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     The local descriptors for each source point</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   target_points</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     The &quot;target&quot; points, i.e., the points to which the source point cloud will be aligned</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   target_descriptors</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     The local descriptors for each target point</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   min_sample_distance</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     The minimum distance between any two random samples</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *   max_correspondence_distance</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     The </span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *   nr_interations</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *     The number of RANSAC iterations to perform</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * Return: A transformation matrix that will roughly align the points in source to the points in target</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;Eigen::Matrix4f</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;computeInitialAlignment (<span class="keyword">const</span> PointCloudPtr &amp; source_points, <span class="keyword">const</span> LocalDescriptorsPtr &amp; source_descriptors,</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                         <span class="keyword">const</span> PointCloudPtr &amp; target_points, <span class="keyword">const</span> LocalDescriptorsPtr &amp; target_descriptors,</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                         <span class="keywordtype">float</span> min_sample_distance, <span class="keywordtype">float</span> max_correspondence_distance, <span class="keywordtype">int</span> nr_iterations)</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordflow">return</span> (Eigen::Matrix4f::Identity ());</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;}</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">/* Use IterativeClosestPoint to find a precise alignment from the source cloud to the target cloud, </span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * starting with an intial guess</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * Inputs:</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> *   source_points</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> *     The &quot;source&quot; points, i.e., the points that must be transformed to align with the target point cloud</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> *   target_points</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment"> *     The &quot;target&quot; points, i.e., the points to which the source point cloud will be aligned</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> *   intial_alignment</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment"> *     An initial estimate of the transformation matrix that aligns the source points to the target points</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment"> *   max_correspondence_distance</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"> *     A threshold on the distance between any two corresponding points.  Any corresponding points that are further </span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"> *     apart than this threshold will be ignored when computing the source-to-target transformation</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment"> *   outlier_rejection_threshold</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment"> *     A threshold used to define outliers during RANSAC outlier rejection</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment"> *   transformation_epsilon</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"> *     The smallest iterative transformation allowed before the algorithm is considered to have converged</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment"> *   max_iterations</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment"> *     The maximum number of ICP iterations to perform</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment"> * Return: A transformation matrix that will precisely align the points in source to the points in target</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;Eigen::Matrix4f</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;refineAlignment (<span class="keyword">const</span> PointCloudPtr &amp; source_points, <span class="keyword">const</span> PointCloudPtr &amp; target_points, </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                 <span class="keyword">const</span> Eigen::Matrix4f initial_alignment, <span class="keywordtype">float</span> max_correspondence_distance,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                 <span class="keywordtype">float</span> outlier_rejection_threshold, <span class="keywordtype">float</span> transformation_epsilon, <span class="keywordtype">float</span> max_iterations)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">return</span> (Eigen::Matrix4f::Identity ());</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#endif</span></div>
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